import rosbag
from colorama import Fore, Style
import os
import sys
import warnings

# 获取当前脚本的完整路径
script_path = os.path.abspath(sys.argv[0])
# 从完整路径中获取目录
script_dir = os.path.dirname(script_path)
# 从完整路径中分离出文件名
script_name = os.path.basename(script_path)
# 使用 splitext() 函数分离文件名和扩展名
script_name_without_extension, _ = os.path.splitext(script_name)

print(Fore.YELLOW+f"python script name:", sys.argv[0])
if len(sys.argv)!=2:
    print(Fore.RED+f"you need python params!")
    sys.exit()

current_rosbag= script_dir + "/" + sys.argv[1]
if os.path.isabs(sys.argv[1]):
    current_rosbag = sys.argv[1]

#print(Fore.WHITE+f"current_rosbag:", current_rosbag)
rosbag_data = rosbag.Bag(current_rosbag)
# 获取类型和主题信息
# rosbag_info = rosbag_data.get_type_and_topic_info()
# info.topics 是一个字典，它的键是 topic 的名字
# all_topics = list(rosbag_info.topics.keys())
topics = ['/vehicle/body_report', '/vehicle/chassis_report']
speed_on_dashboard = 0.0
speed_average = 0.0
warning_msg = ""
error_msg = ""

# https://baijiahao.baidu.com/s?id=1738344943951285469&wfr=spider&for=pc
for msg_topic, msg, t in rosbag_data.read_messages(topics=topics):
    if msg_topic == '/vehicle/body_report':
        speed_on_dashboard = msg.auxiliary_report.auxiliary_report_data.vehicle_speed_on_dashboard
    if msg_topic == '/vehicle/chassis_report':
        speed_average = msg.throttle_info_report.throttle_info_report_data.vehicle_speed_average
    if 0 < speed_average and 0 < speed_on_dashboard:
        if 0 < (speed_on_dashboard - speed_average) and ((speed_average / 10 + 4) > (speed_on_dashboard - speed_average)):
            # check pass
            pass
        else:
            error_msg = "["+str(t.to_sec())+"]表显车速不和符合国标[0≤指示车速表-实际车速表≤实际车速/10+4 KM/H]"
            break

if error_msg:  # This checks if the string is empty
    print(Fore.RED+f"", script_name_without_extension)
    print(Fore.CYAN+f"", error_msg)
rosbag_data.close()
